Nowadays, light detection and ranging (LiDAR) sensors are gaining more and more popularity in practical applications, such as self-driving vehicles, mobile robots, drones, tablet PC or mobile phones (e.g., iPhone 12 Pro). LiDAR can acquire the precise 3D digital representation of the surrounding environment, i.e., LiDAR point clouds, which consist of 3D coordinates indicating the locations of points.
It is well-known that LiDAR point clouds have been widely utilized in many fields, e.g., augmented reality (AR), virtual reality (VR), simultaneous localization and mapping (SLAM) [1]}.
